Fast hybrid relocation in large scale metric-topologic-semantic map

Romain Drouilly, Patrick Rives, Benoit Morisset
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Navigation in large scale environments is challenging because it requires accurate local map and global relocation ability. We present a new hybrid metric-topological-semantic map structure, called MTS-map, that allows a fine metric-based navigation and fast coarse query-based localisation. It consists of local sub-maps connected through two topological layers at metric and semantic levels. Semantic information is used to build concise local graph-based descriptions of sub-maps. We propose a
more » ... ust and efficient algorithm that relies on MTS-map structure and semantic description of sub-maps to relocate very fast. We combine the discriminative power of semantics with the robustness of an interpretation tree to compare the graphs very fast and outperform state-of-the-art-techniques. The proposed approach is tested on a challenging dataset composed of more than 13000 real world images where we demonstrate the ability to relocate within 0.12ms.
doi:10.1109/iros.2014.6942804 dblp:conf/iros/DrouillyRM14 fatcat:phep3udr3nebxgpm3hovug4ueq